version: 66.11
glider: 192
mission: 2
dive: 558
start: 12 30 113 5 55 49
data:
$ID,192
$MISSION,2
$DIVE,558
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12231.635
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-22.9
$GPS2,291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,338.5,120618,-15.5,-8.250,-18.49,2720
$D_GRID,592
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,2497,2515,3038,2744,0.0,0.0,0,57,0.00,0.00,-29.58,0.000,16390,0.000,0.000,2496,2516,3336,3505,3168,0,0,0,0,0,0,28.83,28.83,14.54
$GC,65,-0.89,-146.0,2497,2516,3505,3168,1.1,-0.5,6,72,0.82,1.55,0.00,0.000,4612,0.094,0.096,2224,1660,3337,3506,3168,0,0,0,0,0,0,13.89,13.90,28.83
$GC,311,-0.82,-146.0,2224,1660,3506,3168,1.0,0.1,52,318,0.00,1.58,0.00,0.000,1030,0.000,0.109,2217,2505,3337,3506,3168,0,0,0,0,0,0,28.83,13.77,28.83
$GC,631,-0.82,-146.0,1368,2503,3498,3165,1.0,0.0,113,639,0.00,1.55,0.00,0.000,516,0.000,0.099,2217,1659,3337,3507,3168,0,0,0,0,0,0,28.83,13.76,28.83
$GC,879,-0.75,-146.0,2217,1659,3507,3168,1.0,0.2,159,887,0.25,1.58,0.00,0.000,3078,0.269,0.107,2267,2503,3337,3507,3168,0,0,0,0,0,0,13.43,13.74,28.83
$GC,1206,-0.67,-146.0,2267,2503,3507,3168,1.0,-0.7,220,1212,0.00,1.55,0.00,0.000,516,0.000,0.098,2267,1660,3337,3507,3168,0,0,0,0,0,0,28.83,13.74,28.83
$GC,1451,-0.60,-146.0,1408,1659,3499,3165,1.0,-0.1,266,1458,0.20,1.58,0.00,0.000,3078,0.268,0.106,2307,2500,3337,3507,3168,0,0,0,0,0,0,13.43,13.74,28.83
$GC,1778,-0.53,-146.0,2307,2500,3507,3168,1.0,0.1,327,1786,0.12,1.58,0.00,0.000,2564,0.317,0.096,2338,1651,3337,3507,3167,0,0,0,0,0,0,13.65,13.75,28.83
$GC,2025,-0.45,-146.0,2338,1651,3507,3168,1.0,-0.1,373,2033,0.12,1.60,0.00,0.000,3078,0.303,0.109,2356,2500,3337,3507,3168,0,0,0,0,0,0,13.43,13.71,28.83
$GC,2353,-0.38,-146.0,1440,2498,3498,3165,0.9,0.4,434,2360,0.12,1.55,0.00,0.000,2564,0.301,0.096,2388,1660,3337,3507,3168,0,0,0,0,0,0,13.73,13.75,28.83
$GC,2599,-0.30,-146.0,2388,1660,3507,3168,0.9,0.1,480,2607,0.00,1.58,0.00,0.000,1030,0.000,0.106,2384,2502,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,2921,-0.23,-146.0,1472,2500,3499,3166,1.1,-0.2,541,2930,0.17,1.58,0.00,0.000,2564,0.289,0.096,2426,1656,3337,3507,3168,0,0,0,0,0,0,13.44,13.74,28.83
$GC,3169,-0.15,-146.0,1504,1654,3499,3164,1.0,0.2,587,3176,0.15,1.60,0.00,0.000,3078,0.290,0.108,2450,2503,3337,3507,3168,0,0,0,0,0,0,13.40,13.71,28.83
$GC,3498,-0.08,-146.0,2450,2504,3507,3168,1.1,-1.0,648,3505,0.12,1.58,0.00,0.000,2564,0.313,0.094,2481,1659,3337,3506,3168,0,0,0,0,0,0,13.69,13.74,28.83
$GC,3744,-0.01,-146.0,2481,1658,3507,3168,0.9,0.3,694,3752,0.12,1.58,0.00,0.000,3078,0.298,0.107,2500,2501,3337,3507,3168,0,0,0,0,0,0,13.44,13.70,28.83
$GC,4072,0.07,-146.0,2500,2501,3507,3168,1.0,0.1,755,4078,0.00,1.55,0.00,0.000,516,0.000,0.098,2500,1657,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,4317,0.14,-146.0,2500,1657,3507,3168,1.0,-0.1,801,4325,0.22,1.60,0.00,0.000,3078,0.275,0.108,2545,2506,3337,3507,3168,0,0,0,0,0,0,13.38,13.70,28.83
$GC,4645,0.22,-146.0,1568,2504,3499,3165,1.0,0.1,862,4654,0.12,1.58,0.00,0.000,2564,0.314,0.093,2576,1651,3337,3507,3168,0,0,0,0,0,0,13.64,13.74,28.83
$GC,4891,0.29,-146.0,1616,1650,3499,3165,1.0,-0.3,908,4899,0.00,1.60,0.00,0.000,1030,0.000,0.108,2571,2500,3337,3507,3168,0,0,0,0,0,0,28.83,13.70,28.83
$GC,5213,0.36,-146.0,2571,2500,3507,3168,1.0,-0.3,969,5220,0.17,1.55,0.00,0.000,2564,0.292,0.095,2614,1660,3337,3507,3168,0,0,0,0,0,0,13.43,13.74,28.83
$GC,5457,0.36,-146.0,2614,1660,3507,3168,1.0,-0.3,1015,5464,0.00,1.58,0.00,0.000,1030,0.000,0.106,2609,2504,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,5779,0.44,-146.0,2610,2504,3507,3168,1.0,-0.2,1076,5786,0.12,1.58,0.00,0.000,2564,0.316,0.095,2638,1650,3337,3507,3168,0,0,0,0,0,0,13.66,13.74,28.83
$GC,6027,0.51,-146.0,2638,1650,3507,3168,0.9,-0.1,1122,6034,0.15,1.60,0.00,0.000,3078,0.290,0.108,2664,2505,3337,3507,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,6356,0.58,-146.0,2664,2505,3507,3168,1.0,-0.1,1183,6364,0.12,1.58,0.00,0.000,2564,0.308,0.093,2695,1653,3337,3507,3168,0,0,0,0,0,0,13.67,13.74,28.83
$GC,6603,0.66,-146.0,2695,1653,3507,3168,1.0,0.3,1229,6610,0.00,1.60,0.00,0.000,1030,0.000,0.107,2691,2505,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,6926,0.73,-146.0,2691,2505,3507,3168,1.0,0.2,1290,6935,0.17,1.58,0.00,0.000,2564,0.289,0.093,2732,1653,3337,3507,3168,0,0,0,0,0,0,13.42,13.74,28.83
$GC,7174,0.81,-146.0,1744,1652,3499,3165,1.0,-0.2,1336,7181,0.17,1.60,0.00,0.000,3078,0.283,0.107,2763,2504,3337,3507,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,7502,0.88,-146.0,2763,2504,3507,3168,1.0,-0.7,1397,7508,0.00,1.55,0.00,0.000,516,0.000,0.096,2763,1660,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7750,0.88,-146.0,2763,1660,3507,3168,1.0,-0.0,1443,7758,0.12,1.58,0.00,0.000,3078,0.303,0.105,2781,2504,3337,3507,3168,0,0,0,0,0,0,13.41,13.69,28.83
$GC,8079,0.95,-146.0,1760,2502,3499,3165,0.9,0.4,1504,8086,0.12,1.58,0.00,0.000,2564,0.308,0.094,2812,1650,3337,3506,3168,0,0,0,0,0,0,13.64,13.72,28.83
$GC,8325,1.03,-146.0,2813,1650,3507,3168,0.9,-0.2,1550,8333,0.00,1.60,0.00,0.000,1030,0.000,0.107,2807,2502,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,8654,1.10,-146.0,2808,2502,3507,3168,1.0,-0.2,1611,8662,0.17,1.58,0.00,0.000,2564,0.296,0.093,2849,1650,3337,3507,3168,0,0,0,0,0,0,13.37,13.73,28.83
$GC,8903,1.18,-146.0,2850,1649,3507,3168,1.0,-0.4,1657,8910,0.17,1.60,0.00,0.000,3078,0.285,0.108,2881,2505,3337,3507,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,9230,1.25,-146.0,2881,2505,3507,3168,0.9,0.2,1718,9238,0.00,1.55,0.00,0.000,516,0.000,0.096,2881,1658,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,9477,1.32,-146.0,2881,1658,3507,3168,1.0,-0.3,1764,9486,0.22,1.58,0.00,0.000,3078,0.269,0.106,2925,2500,3337,3507,3168,0,0,0,0,0,0,13.38,13.69,28.83
$GC,9804,1.40,-146.0,1904,2498,3497,3165,1.0,-0.2,1825,9813,0.00,1.55,0.00,0.000,516,0.000,0.097,2926,1658,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10051,1.40,-146.0,2926,1658,3507,3168,1.0,0.7,1871,10058,0.15,1.58,0.00,0.000,3078,0.290,0.106,2950,2499,3337,3507,3168,0,0,0,0,0,0,13.39,13.69,28.83
$GC,10381,1.47,-146.0,1920,2497,3499,3165,0.9,0.7,1932,10387,0.00,1.55,0.00,0.000,516,0.000,0.096,2950,1659,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,10627,1.54,-146.0,2950,1658,3507,3168,1.0,-0.3,1978,10634,0.22,1.58,0.00,0.000,3078,0.274,0.105,2993,2500,3337,3507,3168,0,0,0,0,0,0,13.40,13.69,28.83
$GC,10955,1.54,-146.0,1984,2498,3499,3165,0.9,1.3,2039,10963,0.00,1.55,0.00,0.000,516,0.000,0.096,2994,1653,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11202,1.54,-146.0,2994,1653,3507,3168,1.1,-0.5,2085,11209,0.00,1.60,0.00,0.000,1030,0.000,0.107,2989,2506,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11530,1.54,-146.0,2989,2506,3507,3168,1.0,0.1,2146,11537,0.00,1.55,0.00,0.000,516,0.000,0.096,2989,1660,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,11776,1.54,-146.0,2989,1660,3507,3168,0.9,0.7,2192,11783,0.00,1.58,0.00,0.000,1030,0.000,0.104,2982,2503,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12103,1.54,-146.0,2983,2503,3506,3167,1.0,0.3,2253,12110,0.00,1.55,0.00,0.000,516,0.000,0.096,2983,1660,3337,3507,3168,0,0,0,0,0,0,28.83,13.71,28.83
$GC,12350,1.54,-146.0,2000,1659,3499,3165,1.0,0.3,2299,12358,0.00,1.58,0.00,0.000,1030,0.000,0.104,2977,2501,3337,3507,3168,0,0,0,0,0,0,28.83,13.69,28.83
$GC,12679,1.54,-146.0,2977,2501,3507,3168,1.0,-0.1,2360,12686,0.00,1.55,0.00,0.000,516,0.000,0.095,2977,1656,3337,3506,3168,0,0,0,0,0,0,28.83,13.71,28.83
$STATE,12908,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12908,begin apogee
$FREEZE,1.22,-1.596,-1.808,2,5,0
$GC,12923,-0.22,0.0,2970,2511,3507,3168,0.9,0.1,2404,12934,1.62,0.00,6.88,0.168,12290,0.095,0.000,2433,2511,3281,3454,3108,0,0,0,0,0,0,13.84,28.83,28.83
$STATE,12935,end apogee,SURFACE_DEPTH_REACHED
$STATE,12935,begin surface coast
$FREEZE,0.97,-1.595,-1.807,2,5,0
$FREEZE,1.09,-1.598,-1.808,2,5,0
$FREEZE,0.99,-1.603,-1.808,2,5,0
$FREEZE,1.10,-1.596,-1.807,2,5,0
$FREEZE,1.01,-1.590,-1.807,2,5,0
$FREEZE,1.15,-1.595,-1.808,2,5,0
$FREEZE,0.97,-1.593,-1.808,2,5,0
$FREEZE,1.04,-1.596,-1.807,2,5,0
$FREEZE,0.97,-1.586,-1.807,2,5,0
$FREEZE,1.03,-1.592,-1.808,2,5,0
$FREEZE,0.94,-1.595,-1.808,2,5,0
$FINISH,0.9,1.026535
$STATE,12999,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12999,begin surface
$SM_CCo,13026,272.23,0.153,0,0,1108,400.08
$SM_GC,1.18,7.03,0.00,272.23,0.085,0.000,0.153,135,2511,1108,-7.36,0.31,400.08,0,0,0,0,0,0,13.97,28.83,13.95
$RAFOS_CLK,720
$RAFOS,6,1388393341,8.833333,8.816944,60,56,56,54,54,52,165,139,194,207,220,234
$RAFOS,5,1388392862,8.700000,8.683888,66,59,59,58,55,52,184,147,120,217,205,136
$RAFOS,4,1388392382,8.566667,8.550555,62,59,58,58,50,50,206,119,189,174,150,138
$RAFOS,3,1388391904,8.433333,8.417778,78,59,57,55,50,49,190,165,206,134,122,177
$RAFOS,2,1388391422,8.300000,8.283889,65,64,60,57,56,52,165,207,151,194,137,111
$RAFOS,1,1388390944,8.166667,8.151111,69,58,58,57,52,50,215,163,113,194,181,146
$RAFOS,0,1388390463,8.033334,8.017500,64,64,57,55,50,45,191,209,118,144,173,156
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6543.17,-5810.98,291213,111104
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.91
$INTERNAL_PRESSURE,8.60578
$TCM_TEMP,11.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,1.2,999.0
$24V_AH,13.4,235.355
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.350,72.425,6.875,272.225,0.000,0.000,0.000,0.000,4.750,0.000,0.000,6039.482,2651.361,499.707,3444.997,741.122,0.000,2091.192,0.000,3423.412,2520.000,2.816,0.000
$DEVICE_MAMPS,317.475,108.630,168.300,153.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1723.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,96558,2416
$CAP_FILE_SIZE,180148,0
$CFSIZE,259252224,207302656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.3
$CURRENT,4.611,179.5,1
$GPS,301213,093905,6532.601,-5811.714,31,1.1,32,-32.1